OpenRaiser/Intern-Atlas huggingface dataset:
Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps
Venue: arXiv cs.RO 2025
Year: 2025

Consistent maps are key for most autonomous mobile robots. They often use SLAM approaches to build such maps. Loop closures via place recognition help maintain accurate pose estimates by mitigating global drift. This paper presents a robust loop closure detection pipeline for outdoor SLAM with LiDAR-equipped robots. The method handles various LiDAR sensors with different scanning patterns, field of views and resolutions. It generates local maps from LiDAR scans and aligns them using a ground alignment module to handle both planar and non-planar motion of the LiDAR, ensuring applicability across platforms. The method uses density-preserving bird's eye view projections of these local maps and extracts ORB feature descriptors from them for place recognition. It stores the feature descriptors in a binary search tree for efficient retrieval, and self-similarity pruning addresses perceptual aliasing in repetitive environments. Extensive experiments on public and self-recorded datasets demonstrate accurate loop closure detection, long-term localization, and cross-platform multi-map alignment, agnostic to the LiDAR scanning patterns, fields of view, and motion profiles.
Initial Findings on Sensor based Open Vocabulary Activity Recognition via Text Embedding Inversion
Venue: arXiv cs.AI 2025
Year: 2025

Conventional human activity recognition (HAR) relies on classifiers trained to predict discrete activity classes, inherently limiting recognition to activities explicitly present in the training set. Such classifiers would invariably fail, putting zero likelihood, when encountering unseen activities. We propose Open Vocabulary HAR (OV-HAR), a framework that overcomes this limitation by first converting each activity into natural language and breaking it into a sequence of elementary motions. This descriptive text is then encoded into a fixed-size embedding. The model is trained to regress this embedding, which is subsequently decoded back into natural language using a pre-trained embedding inversion model. Unlike other works that rely on auto-regressive large language models (LLMs) at their core, OV-HAR achieves open vocabulary recognition without the computational overhead of such models. The generated text can be transformed into a single activity class using LLM prompt engineering. We have evaluated our approach on different modalities, including vision (pose), IMU, and pressure sensors, demonstrating robust generalization across unseen activities and modalities, offering a fundamentally different paradigm from contemporary classifiers.
Lazy Reimplication in Chronological Backtracking
Venue: arXiv cs.LO 2025
Year: 2025

Chronological backtracking is an interesting SAT solving technique within CDCL reasoning, as it backtracks less aggressively upon conflicts. However, chronological backtracking is more difficult to maintain due to its weaker SAT solving invariants. This paper introduces a lazy reimplication procedure for missed lower implications in chronological backtracking. Our method saves propagations by reimplying literals on demand, rather than eagerly. Due to its modularity, our work can be replicated in other solvers, as shown by our results in the solvers CaDiCaL and Glucose.
Human-Inspired Multi-Level Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning (RL), a common tool in decision making, learns control policies from various experiences based on the associated cumulative return/rewards without treating them differently. Humans, on the contrary, often learn to distinguish from discrete levels of performance and extract the underlying insights/information (beyond reward signals) towards their decision optimization. For instance, when learning to play tennis, a human player does not treat all unsuccessful attempts equally. Missing the ball completely signals a more severe mistake than hitting it out of bounds (although the cumulative rewards can be similar for both cases). Learning effectively from multi-level experiences is essential in human decision making. This motivates us to develop a novel multi-level RL method that learns from multi-level experiences via extracting multi-level information. At the low level of information extraction, we utilized the existing rating-based reinforcement learning to infer inherent reward signals that illustrate the value of states or state-action pairs accordingly. At the high level of information extraction, we propose to extract important directional information from different-level experiences so that policies can be updated towards desired deviation from these different levels of experiences. Specifically, we propose a new policy loss function that penalizes distribution similarities between the current policy and different-level experiences, and assigns different weights to the penalty terms based on the performance levels. Furthermore, the integration of the two levels towards multi-level RL guides the agent toward policy improvements that benefit both reward improvement and policy improvement, hence yielding a similar learning mechanism as humans.
The Paradox of Success in Evolutionary and Bioinspired Optimization: Revisiting Critical Issues, Key Studies, and Methodological Pathways
Venue: arXiv cs.NE 2025
Year: 2025

Evolutionary and bioinspired computation are crucial for efficiently addressing complex optimization problems across diverse application domains. By mimicking processes observed in nature, like evolution itself, these algorithms offer innovative solutions beyond the reach of traditional optimization methods. They excel at finding near-optimal solutions in large, complex search spaces, making them invaluable in numerous fields. However, both areas are plagued by challenges at their core, including inadequate benchmarking, problem-specific overfitting, insufficient theoretical grounding, and superfluous proposals justified only by their biological metaphor. This overview recapitulates and analyzes in depth the criticisms concerning the lack of innovation and rigor in experimental studies within the field. To this end, we examine the judgmental positions of the existing literature in an informed attempt to guide the research community toward directions of solid contribution and advancement in these areas. We summarize guidelines for the design of evolutionary and bioinspired optimizers, the development of experimental comparisons, and the derivation of novel proposals that take a step further in the field. We provide a brief note on automating the process of creating these algorithms, which may help align metaheuristic optimization research with its primary objective (solving real-world problems), provided that our identified pathways are followed. Our conclusions underscore the need for a sustained push towards innovation and the enforcement of methodological rigor in prospective studies to fully realize the potential of these advanced computational techniques.
RadAlign: Advancing Radiology Report Generation with Vision-Language Concept Alignment
Venue: arXiv cs.CV 2025
Year: 2025

Automated chest radiographs interpretation requires both accurate disease classification and detailed radiology report generation, presenting a significant challenge in the clinical workflow. Current approaches either focus on classification accuracy at the expense of interpretability or generate detailed but potentially unreliable reports through image captioning techniques. In this study, we present RadAlign, a novel framework that combines the predictive accuracy of vision-language models (VLMs) with the reasoning capabilities of large language models (LLMs). Inspired by the radiologist's workflow, RadAlign first employs a specialized VLM to align visual features with key medical concepts, achieving superior disease classification with an average AUC of 0.885 across multiple diseases. These recognized medical conditions, represented as text-based concepts in the aligned visual-language space, are then used to prompt LLM-based report generation. Enhanced by a retrieval-augmented generation mechanism that grounds outputs in similar historical cases, RadAlign delivers superior report quality with a GREEN score of 0.678, outperforming state-of-the-art methods' 0.634. Our framework maintains strong clinical interpretability while reducing hallucinations, advancing automated medical imaging and report analysis through integrated predictive and generative AI. Code is available at https://github.com/difeigu/RadAlign.
Confident Pseudo-labeled Diffusion Augmentation for Canine Cardiomegaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Canine cardiomegaly, marked by an enlarged heart, poses serious health risks if undetected, requiring accurate diagnostic methods. Current detection models often rely on small, poorly annotated datasets and struggle to generalize across diverse imaging conditions, limiting their real-world applicability. To address these issues, we propose a Confident Pseudo-labeled Diffusion Augmentation (CDA) model for identifying canine cardiomegaly. Our approach addresses the challenge of limited high-quality training data by employing diffusion models to generate synthetic X-ray images and annotate Vertebral Heart Score key points, thereby expanding the dataset. We also employ a pseudo-labeling strategy with Monte Carlo Dropout to select high-confidence labels, refine the synthetic dataset, and improve accuracy. Iteratively incorporating these labels enhances the model's performance, overcoming the limitations of existing approaches. Experimental results show that the CDA model outperforms traditional methods, achieving state-of-the-art accuracy in canine cardiomegaly detection. The code implementation is available at https://github.com/Shira7z/CDA.
Multi-task Domain Adaptation for Computation Offloading in Edge-intelligence Networks
Venue: arXiv cs.LG 2025
Year: 2025

In the field of multi-access edge computing (MEC), efficient computation offloading is crucial for improving resource utilization and reducing latency in dynamically changing environments. This paper introduces a new approach, termed as Multi-Task Domain Adaptation (MTDA), aiming to enhance the ability of computational offloading models to generalize in the presence of domain shifts, i.e., when new data in the target environment significantly differs from the data in the source domain. The proposed MTDA model incorporates a teacher-student architecture that allows continuous adaptation without necessitating access to the source domain data during inference, thereby maintaining privacy and reducing computational overhead. Utilizing a multi-task learning framework that simultaneously manages offloading decisions and resource allocation, the proposed MTDA approach outperforms benchmark methods regarding mean squared error and accuracy, particularly in environments with increasing numbers of users. It is observed by means of computer simulation that the proposed MTDA model maintains high performance across various scenarios, demonstrating its potential for practical deployment in emerging MEC applications.
Real-Time Decision-Making for Digital Twin in Additive Manufacturing with Model Predictive Control using Time-Series Deep Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Digital Twin -- a virtual replica of a physical system enabling real-time monitoring, model updating, prediction, and decision-making -- combined with recent advances in machine learning, offers new opportunities for proactive control strategies in autonomous manufacturing. However, achieving real-time decision-making with Digital Twins requires efficient optimization driven by accurate predictions of highly nonlinear manufacturing systems. This paper presents a simultaneous multi-step Model Predictive Control (MPC) framework for real-time decision-making, using a multivariate deep neural network, named Time-Series Dense Encoder (TiDE), as the surrogate model. Unlike conventional MPC models which only provide one-step ahead prediction, TiDE is capable of predicting future states within the prediction horizon in one shot (multi-step), significantly accelerating the MPC. Using Directed Energy Deposition (DED) additive manufacturing as a case study, we demonstrate the effectiveness of the proposed MPC in achieving melt pool temperature tracking to ensure part quality, while reducing porosity defects by regulating laser power to maintain melt pool depth constraints. In this work, we first show that TiDE is capable of accurately predicting melt pool temperature and depth. Second, we demonstrate that the proposed MPC achieves precise temperature tracking while satisfying melt pool depth constraints within a targeted dilution range (10\%-30\%), reducing potential porosity defects. Compared to PID controller, the MPC results in smoother and less fluctuating laser power profiles with competitive or superior melt pool temperature control performance. This demonstrates the MPC's proactive control capabilities, leveraging time-series prediction and real-time optimization, positioning it as a powerful tool for future Digital Twin applications and real-time process optimization in manufacturing.
An Explainable Pipeline for Machine Learning with Functional Data
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning (ML) models have shown success in applications with an objective of prediction, but the algorithmic complexity of some models makes them difficult to interpret. Methods have been proposed to provide insight into these "black-box" models, but there is little research that focuses on supervised ML when the model inputs are functional data. In this work, we consider two applications from high-consequence spaces with objectives of making predictions using functional data inputs. One application aims to classify material types to identify explosive materials given hyperspectral computed tomography scans of the materials. The other application considers the forensics science task of connecting an inkjet printed document to the source printer using color signatures extracted by Raman spectroscopy. An instinctive route to consider for analyzing these data is a data driven ML model for classification, but due to the high consequence nature of the applications, we argue it is important to appropriately account for the nature of the data in the analysis to not obscure or misrepresent patterns. As such, we propose the Variable importance Explainable Elastic Shape Analysis (VEESA) pipeline for training ML models with functional data that (1) accounts for the vertical and horizontal variability in the functional data and (2) provides an explanation in the original data space of how the model uses variability in the functional data for prediction. The pipeline makes use of elastic functional principal components analysis (efPCA) to generate uncorrelated model inputs and permutation feature importance (PFI) to identify the principal components important for prediction. The variability captured by the important principal components in visualized the original data space. We ultimately discuss ideas for natural extensions of the VEESA pipeline and challenges for future research.
Advancing Student Writing Through Automated Syntax Feedback
Venue: arXiv cs.CL 2025
Year: 2025

This study underscores the pivotal role of syntax feedback in augmenting the syntactic proficiency of students. Recognizing the challenges faced by learners in mastering syntactic nuances, we introduce a specialized dataset named Essay-Syntax-Instruct designed to enhance the understanding and application of English syntax among these students. Leveraging the capabilities of Large Language Models (LLMs) such as GPT3.5-Turbo, Llama-2-7b-chat-hf, Llama-2-13b-chat-hf, and Mistral-7B-Instruct-v0.2, this work embarks on a comprehensive fine-tuning process tailored to the syntax improvement task. Through meticulous evaluation, we demonstrate that the fine-tuned LLMs exhibit a marked improvement in addressing syntax-related challenges, thereby serving as a potent tool for students to identify and rectify their syntactic errors. The findings not only highlight the effectiveness of the proposed dataset in elevating the performance of LLMs for syntax enhancement but also illuminate a promising path for utilizing advanced language models to support language acquisition efforts. This research contributes to the broader field of language learning technology by showcasing the potential of LLMs in facilitating the linguistic development of Students.
DynHAC: Fully Dynamic Approximate Hierarchical Agglomerative Clustering
Venue: arXiv cs.DS 2025
Year: 2025

We consider the problem of maintaining a hierarchical agglomerative clustering (HAC) in the dynamic setting, when the input is subject to point insertions and deletions. We introduce DynHAC - the first dynamic HAC algorithm for the popular average-linkage version of the problem which can maintain a 1+εapproximate solution. Our approach leverages recent structural results on (1+ε)-approximate HAC to carefully identify the part of the clustering dendrogram that needs to be updated in order to produce a solution that is consistent with what a full recomputation from scratch would have output. We evaluate DynHAC on a number of real-world graphs. We show that DynHAC can handle each update up to 423x faster than what it would take to recompute the clustering from scratch. At the same time it achieves up to 0.21 higher NMI score than the state-of-the-art dynamic hierarchical clustering algorithms, which do not provably approximate HAC.
Rethinking AI Cultural Alignment
Venue: arXiv cs.AI 2025
Year: 2025

As general-purpose artificial intelligence (AI) systems become increasingly integrated with diverse human communities, cultural alignment has emerged as a crucial element in their deployment. Most existing approaches treat cultural alignment as one-directional, embedding predefined cultural values from standardized surveys and repositories into AI systems. To challenge this perspective, we highlight research showing that humans' cultural values must be understood within the context of specific AI systems. We then use a GPT-4o case study to demonstrate that AI systems' cultural alignment depends on how humans structure their interactions with the system. Drawing on these findings, we argue that cultural alignment should be reframed as a bidirectional process: rather than merely imposing standardized values on AIs, we should query the human cultural values most relevant to each AI-based system and align it to these values through interaction frameworks shaped by human users.
Impatient Bandits: Optimizing for the Long-Term Without Delay
Venue: arXiv cs.LG 2025
Year: 2025

Increasingly, recommender systems are tasked with improving users' long-term satisfaction. In this context, we study a content exploration task, which we formalize as a bandit problem with delayed rewards. There is an apparent trade-off in choosing the learning signal: waiting for the full reward to become available might take several weeks, slowing the rate of learning, whereas using short-term proxy rewards reflects the actual long-term goal only imperfectly. First, we develop a predictive model of delayed rewards that incorporates all information obtained to date. Rewards as well as shorter-term surrogate outcomes are combined through a Bayesian filter to obtain a probabilistic belief. Second, we devise a bandit algorithm that quickly learns to identify content aligned with long-term success using this new predictive model. We prove a regret bound for our algorithm that depends on the \textit{Value of Progressive Feedback}, an information theoretic metric that captures the quality of short-term leading indicators that are observed prior to the long-term reward. We apply our approach to a podcast recommendation problem, where we seek to recommend shows that users engage with repeatedly over two months. We empirically validate that our approach significantly outperforms methods that optimize for short-term proxies or rely solely on delayed rewards, as demonstrated by an A/B test in a recommendation system that serves hundreds of millions of users.
PINN-FEM: A Hybrid Approach for Enforcing Dirichlet Boundary Conditions in Physics-Informed Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Physics-Informed Neural Networks (PINNs) solve partial differential equations (PDEs) by embedding governing equations and boundary/initial conditions into the loss function. However, enforcing Dirichlet boundary conditions accurately remains challenging, often leading to soft enforcement that compromises convergence and reliability in complex domains. We propose a hybrid approach, PINN-FEM, which combines PINNs with finite element methods (FEM) to impose strong Dirichlet boundary conditions via domain decomposition. This method incorporates FEM-based representations near the boundary, ensuring exact enforcement without compromising convergence. Through six experiments of increasing complexity, PINN-FEM outperforms standard PINN models, showcasing superior accuracy and robustness. While distance functions and similar techniques have been proposed for boundary condition enforcement, they lack generality for real-world applications. PINN-FEM bridges this gap by leveraging FEM near boundaries, making it well-suited for industrial and scientific problems.
Make-A-Character 2: Animatable 3D Character Generation From a Single Image
Venue: arXiv cs.CV 2025
Year: 2025

This report introduces Make-A-Character 2, an advanced system for generating high-quality 3D characters from single portrait photographs, ideal for game development and digital human applications. Make-A-Character 2 builds upon its predecessor by incorporating several significant improvements for image-based head generation. We utilize the IC-Light method to correct non-ideal illumination in input photos and apply neural network-based color correction to harmonize skin tones between the photos and game engine renders. We also employ the Hierarchical Representation Network to capture high-frequency facial structures and conduct adaptive skeleton calibration for accurate and expressive facial animations. The entire image-to-3D-character generation process takes less than 2 minutes. Furthermore, we leverage transformer architecture to generate co-speech facial and gesture actions, enabling real-time conversation with the generated character. These technologies have been integrated into our conversational AI avatar products.
Mitigating Algorithmic Bias in Multiclass CNN Classifications Using Causal Modeling
Venue: arXiv cs.LG 2025
Year: 2025

This study describes a procedure for applying causal modeling to detect and mitigate algorithmic bias in a multiclass classification problem. The dataset was derived from the FairFace dataset, supplemented with emotional labels generated by the DeepFace pre-trained model. A custom Convolutional Neural Network (CNN) was developed, consisting of four convolutional blocks, followed by fully connected layers and dropout layers to mitigate overfitting. Gender bias was identified in the CNN model's classifications: Females were more likely to be classified as "happy" or "sad," while males were more likely to be classified as "neutral." To address this, the one-vs-all (OvA) technique was applied. A causal model was constructed for each emotion class to adjust the CNN model's predicted class probabilities. The adjusted probabilities for the various classes were then aggregated by selecting the class with the highest probability. The resulting debiased classifications demonstrated enhanced gender fairness across all classes, with negligible impact--or even a slight improvement--on overall accuracy. This study highlights that algorithmic fairness and accuracy are not necessarily trade-offs. All data and code for this study are publicly available for download.